Fitness and sports applications for an autonomous unmanned aerial vehicle

Patent metadata

Field	Value
Publication number	US-11740630-B2
Application number	US-201916439504-A
Country	US
Kind code	B2
Filing date	Jun 12, 2019
Priority date	Jun 12, 2018
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

Abstract

Sports and fitness applications for an autonomous unmanned aerial vehicle (UAV) are described. In an example embodiment, a UAV can be configured to track a human subject using perception inputs from one or more onboard sensors. The perception inputs can be utilized to generate values for various performance metrics associated with the activity of the human subject. In some embodiments, the perception inputs can be utilized to autonomously maneuver the UAV to lead the human subject to satisfy a performance goal. The UAV can also be configured to autonomously capture images of a sporting event and/or make rule determinations while officiating a sporting event.

First claim

What is claimed is:

1. A method for facilitating fitness training using an unmanned aerial vehicle (UAV), the method comprising:
receiving, by a computer system of the UAV, a behavioral objective that is configured based on a performance goal for a human subject;
receiving, by the computer system of the UAV, perception inputs generated by one or more sensors associated with the UAV;
generating and continually updating, by the computer system of the UAV, a planned trajectory through a physical environment based on the behavioral objective, one or more other behavioral objectives, and the perception inputs, the planned trajectory configured to cause the UAV to lead the human subject so as to satisfy the performance goal,
wherein generating the planned trajectory includes processing the behavioral objective with the one or more other behavioral objectives using any of gradient-based optimization, gradient-free optimization, sampling, or end-to-end; and

causing, by the computer system of the UAV, the UAV to autonomously maneuver along the planned trajectory.

2. The method of claim 1 , wherein the performance goal defines a particular running pace and wherein causing the UAV to maneuver along the planned trajectory includes causing the UAV to fly at a speed that sets the particular pace for the human subject along the planned trajectory.

3. The method of claim 1 , further comprising:
determining, by the computer system, based on the perception inputs, that the human subject is injured and/or that the human subject is tired; and
adjusting, by the computer system, the planned trajectory in response to determining that the human subject is injured and/or that the human subject is tired.

4. The method of claim 1 , further comprising:
determining, by the computer system, based on the perception inputs, a terrain characteristic of the physical environment and adjusting the planned trajectory in response to determining the terrain characteristic of the physical environment.

5. The method of claim 1 , wherein the behavioral objective input is based on tracking data generated by a second UAV tracking a second human subject, the tracking data indicative of the motion of the second human subject.

6. The method of claim 5 , wherein the planned trajectory corresponds with the motion of the second human subject.

7. The method of claim 1 , further comprising:
generating, by the computer system, based on the perception inputs, tracking data indicative of the motion of the human subject; and
transmitting, by the computer system, via a wireless communication link, the tracking data to a second UAV;
wherein the tracking data is utilized by the second UAV to autonomously maneuver along a second planned trajectory that corresponds with the motion of the human subject.

8. The method of claim 1 , wherein the perception inputs include images captured by a camera coupled to the UAV.

9. The method of claim 1 , wherein the performance goal is any of a particular pace, a particular speed, a particular time, or a particular distance.

10. The method of claim 1 , wherein the human subject is any of a runner, a swimmer, a bicyclist, a skier, or a snowboarder.

11. An unmanned aerial vehicle (UAV) configured for facilitating fitness training, the UAV comprising:
a propulsion system;
one or more sensors; and
a computer system communicatively coupled to the propulsion system and the one or more sensors, the computer system configured to:
receive a behavioral objective that is configured based on a performance goal for a human subject;
receive perception inputs generated by the one or more sensors;
generate a planned trajectory through a physical environment based on the behavioral objective, one or more other behavioral objectives, and the perception inputs, the planned trajectory configured to cause the UAV to lead the human subject so as to satisfy the performance goal,
wherein to generate the planned trajectory, the computer system processes the behavioral objective with the one or more other behavioral objectives using any of gradient-based optimization, gradient-free optimization, sampling, or end-to-end; and

cause the propulsion system to autonomously maneuver along the planned trajectory.

12. The UAV of claim 11 , wherein the performance goal defines a particular running pace and wherein causing the UAV to maneuver along the planned trajectory includes causing the UAV to fly at a speed that sets the particular pace for the human subject.

13. The UAV of claim 11 , wherein the computer system is further configured to:
determine, based on the perception inputs, that the human subject is injured and/or that the human subject is tired; and
adjust the planned trajectory in response to determining that the human subject is injured and/or that the human subject is tired.

14. The UAV of claim 11 , wherein the computer system is further configured to:
determine, based on the perception inputs, a terrain characteristic of the physical environment and adjust the planned trajectory in response to determining the terrain characteristic of the physical environment.

15. The UAV of claim 11 , wherein the behavioral objective is based on tracking data generated by a second UAV tracking a second human subject, the tracking data indicative of the motion of the second human subject.

16. The UAV of claim 15 , wherein the planned trajectory corresponds with the motion of the second human subject.

17. The UAV of claim 11 , wherein the computer system is further configured to:
generate, based on the perception inputs, tracking data indicative of the motion of the human subject; and
transmit, via a wireless communication link, the tracking data to a second UAV;
wherein the tracking data is utilized by the second UAV to autonomously maneuver along a second planned trajectory that corresponds with the motion of the human subject.

18. The UAV of claim 11 , wherein the perception inputs include images captured by a camera coupled to the UAV.

19. The UAV of claim 11 , wherein the performance goal is any of a particular pace, a particular speed, a particular time, or a particular distance.

20. The UAV of claim 11 , wherein the human subject is any of a runner, a swimmer, a bicyclist, a skier, or a snowboarder.

Assignees

• Skydio Inc

Inventors

• Bachrach Abraham Galton
• Bry Adam Parker
• Donahoe Matthew Joseph
• Martirosyan Hayk
• Moss Tom

Classifications

• G05D1/689

  Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672) · CPC title

• B64U10/14

  with four distinct rotor axes, e.g. quadcopters · CPC title

• B64U20/87

  Mounting of imaging devices, e.g. mounting of gimbals · CPC title

• B64U10/25

  Fixed-wing aircraft (VTOL aircraft B64U10/20) · CPC title

• G05D1/0094 Primary

  involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target · CPC title